NavigatingSkillHelper Class Reference

#include <armarx/navigation/skills/NavigatingSkillHelper.h>

Classes
struct	Properties
struct	Services

Public Member Functions
std::optional< client::Navigator > &	getNavigator ()
void	init (const arondto::NavigatingSkillParams &params, const std::string &id)
template<typename IssueNavigationCommandT, typename ShouldTerminateT>
client::StopEvent	moveAndWaitForStop (IssueNavigationCommandT &&issueNavigationCommand, ShouldTerminateT &&shouldTerminate)
	Issues the navigation command and waits for the navigator to stop, polling shouldTerminate meanwhile.
	NavigatingSkillHelper (const Properties &properties, const Services &srv)

Static Public Member Functions
static arondto::NavigatingSkillParams	DefaultSkillDescription ()

Constructor & Destructor Documentation

NavigatingSkillHelper()

NavigatingSkillHelper	(	const Properties &	properties,
		const Services &	srv )

Member Function Documentation

DefaultSkillDescription()

arondto::NavigatingSkillParams DefaultSkillDescription ( )

static

getNavigator()

std::optional< client::Navigator > & getNavigator

(

)

init()

void init	(	const arondto::NavigatingSkillParams &	params,
		const std::string &	id )

moveAndWaitForStop()

template<typename IssueNavigationCommandT, typename ShouldTerminateT>

client::StopEvent moveAndWaitForStop ( IssueNavigationCommandT && issueNavigationCommand, ShouldTerminateT && shouldTerminate )

inline

Issues the navigation command and waits for the navigator to stop, polling shouldTerminate meanwhile.

If the global planner fails and the retryTimeout budget (measured from the first attempt) is not exhausted yet, the command is re-issued after a short pause. Returns the stop event of the last attempt.

Templated rather than taking std::functions: the navigation commands can throw (e.g. Ice exceptions), which std::function cannot express and -Wnoexcept rejects.

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The documentation for this class was generated from the following files:

• armarx/navigation/skills/NavigatingSkillHelper.h
• armarx/navigation/skills/NavigatingSkillHelper.cpp